Surgical robotic automation with tracking markers

Abstract

Devices, Systems, and Methods for determining the shape of a surgical implant and navigating the surgical implant during surgery are described. The shape of the surgical implant may be determined during surgery and a graphical representation of the surgical implant accurately depicting its shape are displayed and overlaid on graphical depiction of a target anatomy of a patient. The surgical implant may include a tracker recognizable by one or more cameras associated with the navigation system.

What is claimed is: 
     
         1 . A surgical navigation system, comprising:
 a computer;   a camera;   a display;   a surgical implant having an implant tracker; and   a detection tool having a tool tracker associated with the surgical implant,   wherein the computer is configured to determine a shape of the surgical implant by receiving data associated with a position of detection tool as the detection tool is moved along an outer surface of the surgical implant.   
     
     
         2 . The surgical navigation system of  claim 1 , wherein the camera is configured to track the surgical implant. 
     
     
         3 . The surgical navigation system of  claim 2 , wherein the display is configured to show a graphical representation of the surgical implant in relation to patient anatomy. 
     
     
         4 . The surgical navigation system of  claim 3 , wherein the display is configured to show the shape of the surgical implant as determined by the computer. 
     
     
         5 . The surgical navigation system of  claim 1 , wherein the implant tracker comprises one or more optical sensors configured to be recognized by the camera. 
     
     
         6 . The surgical navigation system of  claim 5 , wherein the tool tracker comprises one or more optical sensors configured to be recognized by the camera. 
     
     
         7 . The surgical navigation system of  claim 1 , wherein surgical implant is a rod configured to be implanted into a pedicle screw. 
     
     
         8 . The surgical navigation system of  claim 7 , wherein the rod is attached to the implant tracker via a keyway disposed on an end of the rod. 
     
     
         9 . The surgical navigation system of  1 , wherein the detection tool comprises a u-shaped foot. 
     
     
         10 . The surgical navigation system of  claim 1 , wherein the detection tool comprises a foot with a through-hole. 
     
     
         11 . A surgical robot system for use in robotic-assisted surgery, the system comprising:
 a computer;   a robot arm;   a camera;   a display;   a surgical implant having an implant tracker; and   a detection tool having a tool tracker associated with the surgical implant,   wherein the computer is configured to move the robot arm to a target position of a patient's anatomy to insert the surgical implant, and   wherein the computer is configured to determine a shape of the surgical implant by receiving data associated with a position of detection tool as the detection tool is moved along an outer surface of the surgical implant.   
     
     
         12 . The surgical robot system of  claim 11 , wherein the camera is configured to track the surgical implant. 
     
     
         13 . The surgical robot system of  claim 12 , wherein the display is configured to show a graphical representation of the surgical implant in relation to patient anatomy. 
     
     
         14 . The surgical robot system of  claim 13 , wherein the display is configured to show the shape of the surgical implant as determined by the computer. 
     
     
         15 . The surgical robot system of  claim 11 , wherein the implant tracker comprises one or more optical sensors configured to be recognized by the camera. 
     
     
         16 . The surgical robot system of  claim 15 , wherein the tool tracker comprises one or more optical sensors configured to be recognized by the camera. 
     
     
         17 . The surgical robot system of  claim 11 , wherein surgical implant is a rod configured to be implanted into a pedicle screw. 
     
     
         18 . The surgical robot system of  claim 17 , wherein the rod is attached to the implant tracker via a keyway disposed on an end of the rod. 
     
     
         19 . The surgical robot system of  11 , wherein the detection tool comprises a u-shaped foot. 
     
     
         20 . The surgical robot system of  claim 11 , wherein the detection tool comprises a foot with a through-hole.